WO2017198208A1 - Autonomous mobile robot, control method therefor, and combined robot thereof - Google Patents

Autonomous mobile robot, control method therefor, and combined robot thereof Download PDF

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Publication number
WO2017198208A1
WO2017198208A1 PCT/CN2017/085023 CN2017085023W WO2017198208A1 WO 2017198208 A1 WO2017198208 A1 WO 2017198208A1 CN 2017085023 W CN2017085023 W CN 2017085023W WO 2017198208 A1 WO2017198208 A1 WO 2017198208A1
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self
robot
mobile robot
module
control
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PCT/CN2017/085023
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French (fr)
Chinese (zh)
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汤进举
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科沃斯机器人股份有限公司
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Priority to CN201610338329.8 priority Critical
Priority to CN201610338329.8A priority patent/CN107402570A/en
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Publication of WO2017198208A1 publication Critical patent/WO2017198208A1/en

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24Floor-sweeping machines, motor-driven
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/08Programme-controlled manipulators characterised by modular constructions
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0003Home robots, i.e. small robots for domestic use
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0203Cleaning or polishing vehicle

Abstract

An autonomous mobile robot (100), a control method therefor, and a combined robot thereof. The autonomous mobile robot (100) may be interconnected with a function module (300). The autonomous mobile robot (100) comprises a function module identification mechanism and a control mechanism. The control mechanism adjusts a running parameter or a running mode of the autonomous mobile robot (100) according to the type of the function module (300) identified by the identification mechanism, so that the autonomous mobile robot (100) can adjust a parameter of a sensor, the moving speed of the autonomous mobile robot (100), and the like according to an actual status when different modules are combined together to work, thereby preventing rollover or falling of the autonomous mobile robot (100), and ensuring the safety of a user and the robot.

Description

自移动机器人、其控制方法及其组合机器人Self-moving robot, its control method and its combined robot 技术领域Technical field
本发明涉及一种自移动机器人、其控制方法及其组合机器人,属于家用智能机器人技术领域。The invention relates to a self-mobile robot, a control method thereof and a combined robot thereof, and belongs to the technical field of household intelligent robots.
背景技术Background technique
近年来,凭借着能够自由行走,并能自主清洁地板或玻璃等优势,家用自移动机器人逐渐得到用户的认可,在市场上获得广泛应用。对于目前的自移动机器人来说,由于用户的家庭环境多种多样,户型及面积等各不相同,甚至不少用户家中存在楼梯或下沉式起居室等复杂情况,因此为了防止在行走过程中因台阶而跌落或与墙壁等障碍物发生碰撞而导致产品的损坏,在自移动机器人上通常设有参数固定的下视传感器,以便在行走的同时能够探测前方情况,并报告中央处理单元,并由中央处理单元及时发出变换路线的指令。In recent years, with the advantage of being able to walk freely and independently clean the floor or glass, the home-based mobile robot has gradually gained recognition from users and has been widely used in the market. For the current self-mobile robots, because the user's home environment is diverse, the size and area of the user are different, and even many users have complicated situations such as stairs or sunken living rooms, so in order to prevent the walking process If the product is damaged by falling from a step or colliding with an obstacle such as a wall, a fixed-view down-view sensor is usually provided on the self-moving robot to detect the situation ahead while reporting, and report the central processing unit, and The central processing unit issues an instruction to change the route in time.
然而,上述的下视传感器在自移动机器人的自重较轻以及保有恒定的自重时可以保证其安全。但在自移动机器人自重变大的情况下,由于其惯性的增大,自移动机器人可能会因惯性而撞上前方的人或障碍物,严重时甚至跌落到台阶下,这对家中人员的人身安全构成威胁,可能导致人员受伤,也可能导致自移动机器人的损坏,造成经济损失。However, the above-described down-view sensor can ensure safety when the self-weight of the self-moving robot is light and maintains a constant self-weight. However, in the case where the self-weight of the mobile robot becomes larger, due to the increase of its inertia, the self-moving robot may hit the person or obstacle in front due to inertia, and even fall to the step under serious conditions, which is the personal person of the family. Security poses a threat that can result in personal injury and can result in damage to the mobile robot and economic loss.
发明内容Summary of the invention
鉴于上述问题而做出本发明,本发明的主要目的是提供一种自移动机器人及其控制方法,使自移动机器人在不同组合模式的情况下均能够安全行走。The present invention has been made in view of the above problems, and a main object of the present invention is to provide a self-moving robot and a control method thereof, which enable a self-mobile robot to safely walk in different combinations of modes.
本发明的技术方案具体是这样实现的:The technical solution of the present invention is specifically implemented as follows:
根据本发明的一个实施例,提供一种自移动机器人的控制方法,其中,所述自移动机器人可与功能模块组合,所述自移动机器人包括控制机构及功能模块识别机构,所述方法包括:According to an embodiment of the present invention, a control method of a self-mobile robot is provided, wherein the self-mobile robot can be combined with a function module, and the self-mobile robot includes a control mechanism and a function module identification mechanism, and the method includes:
通过所述控制机构并依据识别出的所述当前组合的功能模块的类型调节自移动机器人的运行参数或运行模式。The operating parameter or operating mode of the self-moving robot is adjusted by the control mechanism and according to the identified type of the currently combined functional module.
同时,本发明还提供一种自移动机器人,其中,所述自移动机器人可对接功能模块,所述自移动机器人包括功能模块识别机构及控制机构,所述控制机构依据所述识 别机构的识别的功能模块的类型调节自移动机器人的运行参数或运行模式。Meanwhile, the present invention also provides a self-mobile robot, wherein the self-mobile robot can dock a function module, the self-mobile robot includes a function module identification mechanism and a control mechanism, and the control mechanism is based on the knowledge The type of function module identified by the other mechanism is adjusted from the operating parameters or operating mode of the mobile robot.
此外,本发明还提供一种组合机器人,其中,所述组合机器人包括自移动机器人及与所述自移动机器人对接的功能模块,所述自移动机器人包括功能模块识别机构及控制机构,所述控制机构依据所述识别机构的识别的功能模块的类型调节自移动机器人的运行参数或运行模式。In addition, the present invention also provides a combination robot, wherein the combination robot includes a self-mobile robot and a functional module that interfaces with the self-mobile robot, the self-mobile robot includes a function module identification mechanism and a control mechanism, and the control The mechanism adjusts an operating parameter or an operating mode of the self-moving robot according to the type of the function module identified by the identification mechanism.
综上所述,利用本发明的自移动机器人及其控制方法,能够使自移动机器人在不同模块组合在一起工作的情况下能够根据实际情况调整传感器的参数以及自身的行走速度等,避免了自移动机器人的倾翻或掉落,能够保证人员以及机器人自身的安全。In summary, the self-moving robot and the control method thereof of the present invention can enable the self-moving robot to adjust the parameters of the sensor and the walking speed of the sensor according to the actual situation, and avoid the self. The tilting or falling of the mobile robot ensures the safety of the personnel and the robot itself.
下面结合附图和具体实施例,对本发明的技术方案进行详细说明。The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
附图说明DRAWINGS
图1是本发明的自移动机器人的示例性模块图。1 is an exemplary block diagram of a self-mobile robot of the present invention.
图2是利用了本发明的自移动机器人的控制方法的示例性流程图。2 is an exemplary flow chart of a control method of a self-mobile robot utilizing the present invention.
具体实施方式detailed description
以下将结合附图对本发明各实施例的技术方案进行清楚、完整的描述,显然,所描述的实施例仅仅是本发明的一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动的前提下所得到的所有其它实施例,都属于本发明所保护的范围。The technical solutions of the various embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
本发明提供一种自移动机器人,其中,该自移动机器人可与功能模块组合,该自移动机器人包括控制机构及功能模块识别机构。控制机构依据前述识别机构识别的功能模块的类型调节自移动机器人的运行参数或运行模式。The present invention provides a self-mobile robot, wherein the self-mobile robot can be combined with a functional module including a control mechanism and a function module identification mechanism. The control mechanism adjusts the operating parameter or the operating mode of the self-moving robot according to the type of the function module identified by the aforementioned identification mechanism.
图1是本发明的自移动机器人的示例性模块图。具体地,本发明的自移动机器人与功能模块的一种实施方式,可以是如图1所示的以所述扫地机器人模块为基部依次竖直向上堆叠其他的功能模块。在图1中示出自移动机器人100和与其相连的功能模块300通过连接件200可被连接在一起,所述自移动机器人100上设有控制机构(图中未示出),所述控制机构根据组合状态控制组合机器人工作。图1中的自移动机器人采取凹槽101与其上方的定位柱对正的方式来保证功能模块之间的接合正确。同时,连接件200的圆形外壁的内表面与功能模块300的底部外壁304相匹配。上述的自移动机器人是自身具备功能的、完全可以独立工作的机器人,比如,在图1所示的示例中,所述的自移动机器人100为清洁机器人,则控制机构可以用于控制清洁机器人的 行走和清洁功能,所述清洁机器人的控制和工作方式与现有技术基本相同。1 is an exemplary block diagram of a self-mobile robot of the present invention. Specifically, an embodiment of the self-mobile robot and the function module of the present invention may be that other functional modules are vertically stacked upward in the order of the cleaning robot module as shown in FIG. 1 . It is shown in FIG. 1 that the self-mobile robot 100 and the functional modules 300 connected thereto can be connected together via a connector 200 provided with a control mechanism (not shown), the control mechanism being Combined state control combines robot work. The self-moving robot of Figure 1 takes the alignment of the groove 101 with the positioning post above it to ensure proper engagement between the functional modules. At the same time, the inner surface of the circular outer wall of the connector 200 mates with the bottom outer wall 304 of the functional module 300. The self-mobile robot described above is a robot that is fully functional and can work independently. For example, in the example shown in FIG. 1, the self-mobile robot 100 is a cleaning robot, and the control mechanism can be used to control the cleaning robot. The walking and cleaning functions of the cleaning robot are basically the same as in the prior art.
当然,以上仅是示例性示出了一种向上组合堆叠各模块的方式。本发明的自移动机器人的模块的组合方式还可以是各个模块在水平方向上互相拼合在一起,包括左右拼合在一起工作的组合方式。除此以外,也可以是在清洁机器人/自移动机器人上预留安装升级其他模块的空间以及接口,便于用户按需选配,方便厂商按订单生产。Of course, the above merely exemplifies a way of stacking the modules in an upward combination. The combination of the modules of the self-mobile robot of the present invention may also be that the modules are assembled together in the horizontal direction, including a combination of left and right work together. In addition, it is also possible to reserve and install the space and interface for upgrading other modules on the cleaning robot/self-mobile robot, so that the user can select and match according to the needs, which is convenient for the manufacturer to produce according to the order.
请参照图1所示,在优选的实施例中,自移动机器人100的上表面设有电性对接部103,所述功能模块设有与所述电性对接部103配合的配接部(未图示),当功能模块组装到所述自移动机器人100上时,所述电性对接部103与所述配接部电性连接,识别机构通过电性对接部103及配接部接收所述功能模块的设备信息。Referring to FIG. 1 , in a preferred embodiment, an electrical interface portion 103 is disposed on the upper surface of the mobile robot 100 , and the functional module is provided with a mating portion that cooperates with the electrical docking portion 103 (not As shown in the figure, when the functional module is assembled to the self-moving robot 100, the electrical docking portion 103 is electrically connected to the mating portion, and the identifying mechanism receives the electrical docking portion 103 and the mating portion. Device information of the function module.
在其他的实施例中,本发明的自移动机器人,检测当前组合(图2中步骤S1)是指由识别机构对自移动机器人当前的模块组合状态进行检测。各模块之间可以通过设置连接时被触发的霍尔开关或微动开关等方式来实现向识别机构发送已连接某一模块的信号。In other embodiments, the self-mobile robot of the present invention detects the current combination (step S1 in FIG. 2) by detecting the current module combination state of the self-mobile robot by the identification mechanism. A signal such as a Hall switch or a micro switch that is triggered at the time of connection can be transmitted between the modules to transmit a signal to the identification mechanism that has been connected to a certain module.
这里,除了可单独工作的自移动机器人优选为清洁机器人之外,所述功能模块可选地包括安防模块、空气净化模块、加湿模块、除湿模块及家庭娱乐模块中的一种或几种。Here, in addition to the self-moving robot that can work alone, preferably a cleaning robot, the functional module optionally includes one or more of a security module, an air purification module, a humidification module, a dehumidification module, and a home entertainment module.
本发明还介绍一种自移动机器人的控制方法,该方法包括:通过所述控制机构并依据识别出的所述当前组合的功能模块的类型调节自移动机器人的运行参数或运行模式。具体地,自移动机器人根据当前组合的功能模块的类型可调节的运行参数包括:该组合状态的行走速度、工作时间、下视传感器的探测高度阈值、爬坡角度阈值以及回充电压中的一者或几者。The present invention also introduces a control method for a self-mobile robot, the method comprising: adjusting, by the control mechanism, an operating parameter or an operating mode of the self-mobile robot according to the identified type of the currently combined functional module. Specifically, the operating parameter that can be adjusted by the mobile robot according to the type of the currently combined functional module includes: one of the walking speed, the working time, the detection height threshold of the down-view sensor, the climbing angle threshold, and the back charging pressure of the combined state. Or a few.
更具体地,自移动机器人根据当前组合的功能模块的类型调节运行参数具体方式至少可选两种,其中一种方式可以根据可供组合的功能模块标准件的质量、体积、运行所需功率及运行的模式,预先设置若干运行参数设置方案,然后根据识别到功能模块类型选择对应运行参数设置方案。另一种方式可以通过识别机构直接识别当前组合的功能模块的质量、体积、运行所需功率及所需运行的模式,再计算组合状态运行所需调整的运行参数。More specifically, the mobile robot adjusts the operating parameters according to the type of the currently combined functional module. At least two options may be selected, one of which may be based on the quality, volume, and power required for the functional modules of the functional modules that can be combined. In the running mode, several operating parameter setting schemes are preset, and then the corresponding operating parameter setting scheme is selected according to the identified functional module type. Another way is to directly identify the quality, volume, power required for operation, and mode of operation required by the currently combined functional module by the identification mechanism, and then calculate the operational parameters adjusted for the combined state operation.
其中,所述功能模块/功能模块标准件的自身参数与需要调整的运行参数的关系大致如下:功能模块/功能模块标准件的质量大小与所述下视传感器的探测高度阈值呈负相关,功能模块/功能模块标准件的体积大小与所述行走速度及所述爬坡角度阈值呈负相关,功能模块/功能模块标准件的运行所需功率大小与所述工作时间负相关、与所述 回充电压正相关。The relationship between the self-parameters of the functional module/functional module standard component and the operating parameter to be adjusted is substantially as follows: the quality of the functional component/functional module standard component is negatively correlated with the detection height threshold of the lower-view sensor, and the function is The volume size of the module/function module standard component is negatively correlated with the walking speed and the climbing angle threshold, and the power required for the operation of the functional module/functional module standard component is negatively correlated with the working time, and The back charge voltage is positively correlated.
以本发明的自移动机器人及其功能模块的组合的具体实施例来看,可以根据所述当前组合调节自身的当前行走速度及下视传感器探测的高度阈值参数(图2中的步骤S2)。也就是说,一旦检测到除扫地机器人之外还连接了其他的例如净化模块或加湿模块之类的功能模块,则会主动调节当前的行走速度,使之放慢,以便在自身总重增加的情况下能够依然稳定地进行行走。在调节当前行走速度的同时,还可以对下视传感器的参数进行调节。这是因为,在组合状态尤其是竖直堆叠的组合方式的情况下,自移动机器人的整体高度会增加,因此重心变高。这将导致在正常情况下能够通过的凹坑等变成不可通过的障碍,因为若强行通过,则会导致自移动机器人的倾倒。这样,可以通过调节下视传感器参数,使下视传感器变得更加敏感,便能够保证自移动机器人能够在面对以前能通过但在组合状态下无法通过的斜坡、凹坑等情况时可以借助变向行走而及时避开。In view of the specific embodiment of the combination of the self-mobile robot and its functional modules of the present invention, the current walking speed of the self-moving robot and the height threshold parameter detected by the down-view sensor can be adjusted according to the current combination (step S2 in FIG. 2). That is to say, once other functional modules such as a purifying module or a humidifying module are connected in addition to the sweeping robot, the current walking speed is actively adjusted to be slowed down so as to increase the total weight of the self. In this case, walking can still be carried out steadily. While adjusting the current walking speed, the parameters of the down view sensor can also be adjusted. This is because, in the case of a combined state, especially a combination of vertical stacking, the overall height of the self-moving robot increases, and thus the center of gravity becomes high. This will cause a pit or the like that can pass under normal conditions to become an obstacle that cannot be passed, because if it is forcibly passed, it will cause dumping of the self-moving robot. In this way, by adjusting the parameters of the down-view sensor to make the down-view sensor more sensitive, it is possible to ensure that the self-moving robot can be changed in the face of slopes, pits, etc. that could pass before but cannot pass in the combined state. Avoid walking in time.
同时,本发明的自移动机器人还可以根据不同的组合模式来确定不同的回充电压。例如,在携带重量较重的包含水箱的加湿模块时,将回充电压相应调高,这样能够保证自移动机器人具有足够的电量行走到充电座的位置,避免出现中途因电量不足而无法行走的弊端。At the same time, the self-mobile robot of the present invention can also determine different back-charge voltages according to different combination modes. For example, when carrying a heavy-weight humidifying module including a water tank, the recharging pressure is accordingly increased, which ensures that the mobile robot has sufficient electric power to travel to the charging stand to avoid the inability to walk due to insufficient power in the middle. Disadvantages.
另外,自移动机器人根据当前组合的功能模块的类型调节运行模式具体也可以包括:是否开启清洁模式、是否开启地图绘制模式及是否调整路径规划模式。In addition, the adjustment of the operation mode by the mobile robot according to the type of the currently combined function module may specifically include whether to open the cleaning mode, whether to open the map drawing mode, and whether to adjust the path planning mode.
本发明的自移动机器人及其控制方法,使得自移动机器人在不同模块组合在一起工作的情况下能够根据实际情况调整传感器的参数以及自身的行走速度,避免了自移动机器人的倾翻或掉落,能够保证人员以及机器人自身的安全。The self-moving robot and the control method thereof of the invention enable the self-moving robot to adjust the parameters of the sensor and the walking speed of the self-moving robot according to the actual situation when the different modules are combined to work, thereby avoiding the tipping or falling of the self-moving robot. It can guarantee the safety of personnel and the robot itself.
对于本领域的普通技术人员来讲,在本发明原理的基础上,显然还可以在不偏离本发明的精神的情况下想到除了上述实施方式以外的其它替换实施方式。It is apparent to those skilled in the art that, in addition to the above-described embodiments, alternative embodiments may be devised without departing from the spirit of the invention.
可如下所述地构造本发明:The invention can be constructed as follows:
(1)一种自移动机器人的控制方法,自移动机器人可与功能模块组合,自移动机器人包括控制机构及功能模块识别机构,方法包括:(1) A self-mobile robot control method, the self-mobile robot can be combined with a function module, and the self-mobile robot includes a control mechanism and a function module identification mechanism, and the method includes:
通过控制机构并依据识别出的当前组合的功能模块的类型调节自移动机器人的运行参数或运行模式。The operating parameters or operating modes of the self-moving robot are adjusted by the control mechanism and according to the type of the currently combined functional module identified.
(2)根据(1)的自移动机器人的控制方法,自移动机器人根据当前组合的功能模块的类型可调节的运行参数包括:行走速度、工作时间、下视传感器的探测高度阈值、爬坡角度阈值以及回充电压中的一者或几者。 (2) The control method of the self-mobile robot according to (1), the operational parameters that can be adjusted by the self-mobile robot according to the type of the currently combined functional module include: walking speed, working time, detection height threshold of the down-view sensor, and climbing angle One or more of the threshold and the chargeback voltage.
(3)根据(2)的自移动机器人的控制方法,自移动机器人根据当前组合的功能模块的类型调节运行参数具体包括:(3) According to the control method of the self-moving robot according to (2), the self-moving robot adjusts the operating parameter according to the type of the currently combined functional module, and specifically includes:
根据可供组合的功能模块标准件的质量、体积、运行所需功率及运行的模式,预先设置若干运行参数设置方案;According to the quality, volume, power required for operation and mode of operation of the standard modules of the functional modules that can be combined, a plurality of operating parameter setting schemes are preset;
根据识别到功能模块类型选择对应运行参数设置方案。Select the corresponding operating parameter setting scheme according to the type of the function module identified.
(4)根据(2)的自移动机器人的控制方法,自移动机器人根据当前组合的功能模块的类型调节运行参数具体包括:(4) According to the control method of the mobile robot according to (2), the self-moving robot adjusts the operating parameter according to the type of the currently combined functional module, specifically:
识别机构识别当前组合的功能模块的质量、体积、运行所需功率及所需运行的模式,计算组合状态运行所需调整的运行参数。The identification mechanism identifies the quality, volume, power required for operation, and mode of operation required for the currently combined functional module, and calculates the operational parameters of the adjustment required for the combined state operation.
(5)根据(2)的自移动机器人的控制方法,自移动机器人为清洁机器人,清洁机器人根据当前组合的功能模块的类型可调节的运行模式包括:清洁模式、地图绘制模式及路径规划模式。(5) The control method of the self-mobile robot according to (2), the self-moving robot is a cleaning robot, and the operation modes that the cleaning robot can adjust according to the type of the currently combined function module include: a cleaning mode, a map drawing mode, and a path planning mode.
(6)一种自移动机器人,自移动机器人可对接功能模块,自移动机器人包括功能模块识别机构及控制机构,控制机构依据识别机构的识别的功能模块的类型调节自移动机器人的运行参数或运行模式。(6) A self-mobile robot, the self-moving robot can be docked with a function module, the self-mobile robot includes a function module identification mechanism and a control mechanism, and the control mechanism adjusts the operation parameter or operation of the self-mobile robot according to the type of the function module recognized by the identification mechanism. mode.
(7)根据(1)的自移动机器人,自移动机器人的上表面设有电性对接部,功能模块设有与电性对接部配合的配接部,功能模块组装到自移动机器人上时,电性对接部与配接部电性连接,识别机构通过电性对接部及配接部接收功能模块的设备信息。(7) The self-moving robot according to (1), wherein the upper surface of the mobile robot is provided with an electrical docking portion, and the function module is provided with a mating portion that cooperates with the electrical docking portion, and when the function module is assembled to the self-mobile robot, The electrical docking portion is electrically connected to the mating portion, and the identifying mechanism receives the device information of the function module through the electrical docking portion and the mating portion.
(8)根据(6)的自移动机器人,功能模块包括安防模块、空气净化模块、加湿模块、除湿模块及家庭娱乐模块中的一种或几种。(8) The self-mobile robot according to (6), wherein the function module comprises one or more of a security module, an air purification module, a humidification module, a dehumidification module, and a home entertainment module.
(9)根据(8)的自移动机器人的控制方法,功能模块堆叠组合在自移动机器人模块上。(9) According to the control method of the self-moving robot of (8), the functional module stack is combined on the self-mobile robot module.
(10)一种组合机器人,组合机器人包括自移动机器人及与自移动机器人对接的功能模块,自移动机器人包括功能模块识别机构及控制机构,控制机构依据识别机构的识别的功能模块的类型调节自移动机器人的运行参数或运行模式。 (10) A combined robot comprising a self-moving robot and a functional module docked with the self-moving robot, the self-mobile robot comprising a functional module identification mechanism and a control mechanism, the control mechanism being adjusted according to the type of the functional module identified by the identification mechanism The operating parameters or operating mode of the mobile robot.

Claims (10)

  1. 一种自移动机器人的控制方法,其特征在于,所述自移动机器人可与功能模块组合,所述自移动机器人包括控制机构及功能模块识别机构,所述方法包括:A control method for a self-mobile robot, characterized in that the self-mobile robot can be combined with a function module, the self-mobile robot comprising a control mechanism and a function module identification mechanism, the method comprising:
    通过所述控制机构并依据识别出的所述当前组合的功能模块的类型调节自移动机器人的运行参数或运行模式。The operating parameter or operating mode of the self-moving robot is adjusted by the control mechanism and according to the identified type of the currently combined functional module.
  2. 根据权利要求1所述的自移动机器人的控制方法,其特征在于,所述自移动机器人根据当前组合的功能模块的类型可调节的运行参数包括:行走速度、工作时间、下视传感器的探测高度阈值、爬坡角度阈值以及回充电压中的一者或几者。The control method of the self-moving robot according to claim 1, wherein the self-moving robot has adjustable operating parameters according to the type of the currently combined functional module, including: walking speed, working time, and detecting height of the down-view sensor. One or more of a threshold, a climb angle threshold, and a back charge pressure.
  3. 根据权利要求2所述的自移动机器人的控制方法,其特征在于,所述自移动机器人根据当前组合的功能模块的类型调节运行参数具体包括:The control method of the self-moving robot according to claim 2, wherein the adjusting the operating parameter according to the type of the currently combined functional module comprises:
    根据可供组合的功能模块标准件的质量、体积、运行所需功率及运行的模式,预先设置若干运行参数设置方案;According to the quality, volume, power required for operation and mode of operation of the standard modules of the functional modules that can be combined, a plurality of operating parameter setting schemes are preset;
    根据识别到功能模块类型选择对应运行参数设置方案。Select the corresponding operating parameter setting scheme according to the type of the function module identified.
  4. 根据权利要求2所述的自移动机器人的控制方法,其特征在于,所述自移动机器人根据当前组合的功能模块的类型调节运行参数具体包括:The control method of the self-moving robot according to claim 2, wherein the adjusting the operating parameter according to the type of the currently combined functional module comprises:
    识别机构识别当前组合的功能模块的质量、体积、运行所需功率及所需运行的模式,计算组合状态运行所需调整的运行参数。The identification mechanism identifies the quality, volume, power required for operation, and mode of operation required for the currently combined functional module, and calculates the operational parameters of the adjustment required for the combined state operation.
  5. 根据权利要求2所述的自移动机器人的控制方法,其特征在于,所述自移动机器人为清洁机器人,所述清洁机器人根据当前组合的功能模块的类型可调节的运行模式包括:清洁模式、地图绘制模式及路径规划模式。The control method of the self-moving robot according to claim 2, wherein the self-mobile robot is a cleaning robot, and the operation mode that the cleaning robot can adjust according to the type of the currently combined functional module includes: a cleaning mode, a map Drawing mode and path planning mode.
  6. 一种自移动机器人,其特征在于,所述自移动机器人可对接功能模块,所述自移动机器人包括功能模块识别机构及控制机构,所述控制机构依据所述识别机构的识别的功能模块的类型调节自移动机器人的运行参数或运行模式。A self-mobile robot, wherein the self-mobile robot can dock a function module, the self-mobile robot includes a function module identification mechanism and a control mechanism, and the control mechanism is configured according to the type of the function module recognized by the identification mechanism Adjust the operating parameters or operating mode of the self-moving robot.
  7. 根据权利要求1所述的自移动机器人,其特征在于,所述自移动机器人的上表面设有电性对接部,所述功能模块设有与所述电性对接部配合的配接部,所述功能模块组装到所述自移动机器人上时,所述电性对接部与所述配接部电性连接,所述识别机构通过所述电性对接部及所述配接部接收所述功能模块的设备信息。 The self-moving robot according to claim 1, wherein the upper surface of the self-moving robot is provided with an electrical docking portion, and the functional module is provided with a mating portion that cooperates with the electrical docking portion. When the functional module is assembled to the self-moving robot, the electrical docking portion is electrically connected to the mating portion, and the identifying mechanism receives the function through the electrical docking portion and the mating portion Device information for the module.
  8. 根据权利要求6所述的自移动机器人,其特征在于,所述功能模块包括安防模块、空气净化模块、加湿模块、除湿模块及家庭娱乐模块中的一种或几种。The self-mobile robot according to claim 6, wherein the function module comprises one or more of a security module, an air purification module, a humidification module, a dehumidification module, and a home entertainment module.
  9. 根据权利要求8所述的自移动机器人的控制方法,其特征在于,所述功能模块堆叠组合在所述自移动机器人模块上。The control method of the self-mobile robot according to claim 8, wherein the functional module stack is combined on the self-mobile robot module.
  10. 一种组合机器人,其特征在于,所述组合机器人包括自移动机器人及与所述自移动机器人对接的功能模块,所述自移动机器人包括功能模块识别机构及控制机构,所述控制机构依据所述识别机构的识别的功能模块的类型调节自移动机器人的运行参数或运行模式。 A combination robot, comprising: a self-mobile robot and a functional module docked with the self-mobile robot, the self-mobile robot comprising a functional module identification mechanism and a control mechanism, the control mechanism according to the The type of function module identified by the identification mechanism adjusts the operating parameters or operating modes of the mobile robot.
PCT/CN2017/085023 2016-05-19 2017-05-19 Autonomous mobile robot, control method therefor, and combined robot thereof WO2017198208A1 (en)

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